US20060061355A1 - Method and system for program execution integrity for communication-based angle sensor - Google Patents
Method and system for program execution integrity for communication-based angle sensor Download PDFInfo
- Publication number
- US20060061355A1 US20060061355A1 US10/910,954 US91095404A US2006061355A1 US 20060061355 A1 US20060061355 A1 US 20060061355A1 US 91095404 A US91095404 A US 91095404A US 2006061355 A1 US2006061355 A1 US 2006061355A1
- Authority
- US
- United States
- Prior art keywords
- sensor
- raw data
- angle
- independently
- output data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24457—Failure detection
- G01D5/24461—Failure detection by redundancy or plausibility
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
Definitions
- the present invention relates generally to redundant system diagnostic techniques and, more particularly, to a method and system for program execution integrity for a communication-based angle sensor.
- steer-by-wire is one type of control system in which a conventional direct mechanical linkage between the input device (e.g., steering wheel or handwheel) and the output device (e.g., steered road wheel) is replaced with a system incorporating components such as electronic input sensors, control circuitry, and output actuators.
- a system such as steer-by-wire (as well as other types of steering systems) utilizes a steering wheel angle sensor input for the operation thereof.
- the components of (and data produced by) the system are designed to be robust (i.e., redundant) so as to be able to continue system operation or fail safe in the event of a failure of one or more of the components.
- One way to ensure the robustness of a system component, such as a steering wheel position sensor is by providing redundant components and/or signals in the system.
- this solution may not necessarily be cost effective or practical, depending on the system/component involved.
- the system itself may be designed to verify the accuracy of sensor inputs, as well as the program execution integrity (PEI) of processing algorithms associated with the system. Examples of PEI diagnostics can include, but are not necessarily limited to, checksums, micro COP faults, redundant ALU, and runtime memory checks.
- a communication-based sensor operates by transmitting a steering wheel angle message on a vehicle communication bus, which in turn provides a means for each module coupled to the bus to receive and utilize the information as necessary.
- the output of a conventional communication-based sensor is an actual computed parameter that is directly utilized by the system(s) receiving such information, as opposed to “raw” sensor data that is thereafter processed by the requesting system to compute the particular parameter.
- a communication-based sensor typically includes components such as individual sensing elements, a microprocessor, a communication controller and transceiver to interface with a communication medium (e.g., a vehicle communications bus).
- the method includes receiving an output communication message from the sensor, the output communication message including sensor output data internally processed within the sensor.
- the output communication message further includes raw data used by the sensor in internally processing the sensor output data.
- the raw data is independently processed, and the results thereof are compared with the internally processed sensor output data so as to verify the processing integrity of the sensor to a desired tolerance.
- a system for implementing program execution integrity (PEI) for a communication-based sensor includes a control unit in communication with the sensor and configured to receive an output communication message therefrom.
- the output communication message includes sensor output data internally processed within the sensor, the output communication message further including raw data used by the sensor in internally processing the sensor output data.
- the control unit is further configured for independently processing the raw data, and for comparing the results of the independently processed raw data with the internally processed sensor output data so as to verify the processing integrity of the sensor to a desired tolerance.
- a storage medium includes a machine readable computer program code for implementing program execution integrity (PEI) for a communication-based sensor, and instructions for causing a computer to implement a method.
- the method further includes receiving an output communication message from the sensor, the output communication message including sensor output data internally processed within the sensor.
- the output communication message further includes raw data used by the sensor in internally processing the sensor output data. The raw data is independently processed, and the results thereof are compared with the internally processed sensor output data so as to verify the processing integrity of the sensor to a desired tolerance.
- FIG. 1 is a schematic block diagram illustrating a system and method for implementing a program execution integrity (PED) diagnostic for a communication-based sensor, in accordance with an embodiment of the invention
- FIG. 2 is a detailed block diagram of an inverse tangent (ATAN) angle lookup function utilized by the system of FIG. 1 ;
- ATAN inverse tangent
- FIG. 3 is a block diagram of a rotation overflow detection function included in the inverse tangent (ATAN) angle lookup function of FIG. 2 ;
- FIG. 4 is a block diagram of a rotation angle determination function included in the inverse tangent (ATAN) angle lookup function of FIG. 2 , which utilizes the rotation/overflow output of FIG. 3 ; and
- FIG. 5 is a block diagram summarizing the steering angle comparison function implemented by the control unit in FIG. 1 .
- the raw data generated by sensing elements within the sensor is independently processed by a separate control unit and then compared with the sensor's output message data processed internally within the sensor. So long as the sensor output message data is in agreement with the independently computed data (to a specified tolerance), the sensor is deemed to have correctly internally processed its own raw data, thereby satisfying the PEI of the sensor.
- PEI program execution integrity
- the communication-based sensor is a steering angle sensor that provides an absolute angle as its output to a vehicle communication bus.
- a separate control unit provides a means for verifying the sensor's PEI such the sensor itself need not be designed according to the same diagnostic timing requirements as the vehicle system using the steering angle information.
- FIG. 1 there is shown a schematic block diagram illustrating a system and method 100 for implementing program execution integrity (PEI) for a communication-based sensor, in accordance with an embodiment of the invention.
- the exemplary communication-based sensor 102 is a steering angle sensor and includes a pair of sensing elements 104 a, 104 b that generate analog voltage inputs received and read by a processor 106 .
- the processor 106 may include an analog to digital conversion (ADC) mechanism for providing raw, unprocessed digital data in the form of sine and cosine values. The raw sine and cosine values are then processed in accordance with an internal processing algorithm 108 of the sensor 102 .
- ADC analog to digital conversion
- the output of processing algorithm 108 represents the actual, absolute steering wheel angle information used by one or more vehicle control systems in communication with the vehicle communication bus. Accordingly, a communication controller 110 and associated transceiver 112 provide an appropriate hardware interface to the vehicle communication bus 114 . In a conventionally configured communication-based steering angle sensor, only the processed steering angle data is communicated externally from the sensor. However, as further shown in FIG. 1 , sensor 102 is modified so as to also redundantly provide the raw, unprocessed data 116 as part of its output communication message 118 .
- control unit 120 receives the output communication message 118 from sensor 102 and separates the absolute steering wheel angle (SWA) data 122 from the raw data 116 .
- the raw data 116 (sine and cosine signals) is inputted to an inverse tangent function block (ATAN) 124 that, in addition to implementing an arc tangent lookup function, provides overflow detection and rotation detection for providing an independently processed steering angle, described in further detail hereinafter.
- ATAN inverse tangent function block
- the actual comparison between the sensor-computed steering angle and the independently computed steering angle is a comparison between differential values of the two.
- a delay block 126 and a subtraction block 128 receives a first differential value representing the change in sensor-computed steering angle and a second differential value representing the change in the independently computed steering angle using the raw data.
- a diagnostic output 132 reflects whether the difference between the sensor-computed steering angle and the independently computed steering angle exceeds a determined threshold.
- FIG. 2 is a more detailed block diagram of an ATAN angle lookup portion 200 of the ATAN function block 124 , particularly illustrating the sine and cosine inputs of the raw steering angle data 116 and an intermediate output (ATAN angle) 202 representing the sensor angle in degrees ( ⁇ 180°).
- the sine value is scaled up by a factor of 128 (2 7 ) to preserve resolution in division.
- An ATAN lookup table 204 provides a first quadrant angle value in order to conserve available memory, and the sign of the cosine and sine values are reapplied to provide the correct angle quadrant.
- the determined ATAN angle 202 is further inputted to a rotation overflow detection portion 300 of the ATAN function block 124 , which produces an internal output 302 reflective of the direction of rotation of the steering angle.
- Angle changes are limited by Nyquist criteria to be less than ⁇ 180°. Any changes that are greater than 180° are considered overflows, which can either be in a clockwise direction or a counterclockwise direction. For a detected counterclockwise rotation, output 302 will have a value of 1 , while for a detected clockwise rotation, output 302 will have a value of ⁇ 1. Otherwise, the value of output 302 will be 0.
- FIG. 4 there is shown another block diagram illustrating a rotation angle determination portion 400 of ATAN block 124 , which utilizes the rotation/overflow output 302 of FIG. 3 (determined from ATAN angle 202 ) to generate a rotation angle output in degrees.
- a rotation counter 404 is used to sum the positive and negative rotations determined by the rotation overflow detection function 300 , and this value is then multiplied by ⁇ 360 degrees.
- FIG. 5 is another block diagram summarizing the steering angle comparison function implemented by control unit 120 .
- the raw unprocessed sensor data 116 is used to generate an independently computed, scaled steering angle 502 .
- the scaled steering angle 502 is then subtracted from the previously determined scaled steering angle (initial AMR angle) to produce relative steering angle motion.
- the relative sensor-computed steering angle motion is determined and provided to compare block 130 , thereby generating an absolute steering angle compare value 504 to be used for diagnostic purposes.
- steering angle information is provided from the communication-based steering angle sensor to a vehicle a communication bus is independently verified to determine whether the sensor or module sending the angle information processed the raw sensor data correctly.
- the verification is determined by comparing the change in steering angle position, it is contemplated that the comparison may be carried out in other ways (e.g., by directly comparing current steering angles provided by the sensor and independently computed by control unit 120 ).
- the specific steering angle reconstruction (processing) from the raw sensor data need not necessarily carried out in the specific manner shown in the Figures, and could be implemented with the same or a different resolution than provided by the sensor's internal algorithm. Regardless of how the calculation is carried out, the present invention embodiments provide a redundant comparison of communication-based sensor information to ensure the information is compatible with robustly designed systems that use the information.
- the above described method embodiments may take the form of computer or controller implemented processes and apparatuses for practicing those processes.
- the disclosure can also be embodied in the form of computer program code containing instructions embodied in tangible media, such as floppy diskettes, CD-ROMs, hard drives, or any other computer-readable storage medium, wherein, when the computer program code is loaded into and executed by a computer or controller, the computer becomes an apparatus for practicing the invention.
- the disclosure may also be embodied in the form of computer program code or signal, for example, whether stored in a storage medium, loaded into and/or executed by a computer or controller, or transmitted over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via electromagnetic radiation, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an apparatus for practicing the invention.
- the computer program code segments configure the microprocessor to create specific logic circuits.
Abstract
Description
- The present invention relates generally to redundant system diagnostic techniques and, more particularly, to a method and system for program execution integrity for a communication-based angle sensor.
- Modern vehicles are increasingly equipped with sophisticated electronic control systems for achieving finer control. For example, “steer-by-wire” is one type of control system in which a conventional direct mechanical linkage between the input device (e.g., steering wheel or handwheel) and the output device (e.g., steered road wheel) is replaced with a system incorporating components such as electronic input sensors, control circuitry, and output actuators. In particular, a system such as steer-by-wire (as well as other types of steering systems) utilizes a steering wheel angle sensor input for the operation thereof.
- As is the case with many systems utilizing steering wheel angle information, the components of (and data produced by) the system are designed to be robust (i.e., redundant) so as to be able to continue system operation or fail safe in the event of a failure of one or more of the components. One way to ensure the robustness of a system component, such as a steering wheel position sensor, is by providing redundant components and/or signals in the system. However, this solution may not necessarily be cost effective or practical, depending on the system/component involved. With other approaches to ensuring system robustness, the system itself may be designed to verify the accuracy of sensor inputs, as well as the program execution integrity (PEI) of processing algorithms associated with the system. Examples of PEI diagnostics can include, but are not necessarily limited to, checksums, micro COP faults, redundant ALU, and runtime memory checks.
- There are several different technologies available for sensing the steering angle of a vehicle, one of which utilizes a communication-based sensor. This type of sensor operates by transmitting a steering wheel angle message on a vehicle communication bus, which in turn provides a means for each module coupled to the bus to receive and utilize the information as necessary. In other words, the output of a conventional communication-based sensor is an actual computed parameter that is directly utilized by the system(s) receiving such information, as opposed to “raw” sensor data that is thereafter processed by the requesting system to compute the particular parameter. Thus, a communication-based sensor typically includes components such as individual sensing elements, a microprocessor, a communication controller and transceiver to interface with a communication medium (e.g., a vehicle communications bus).
- Unfortunately, not all communication-based sensors process the raw data with the same degree of rigorousness and verification. When a robustly designed system uses information sent by a communication-based sensor, the information generated by the sensor should also meet the PEI criteria, input verification criteria and diagnostic timing requirements as do the rest of the system components. Accordingly, it would be desirable to be able to improve the reliability of information generated by existing communication-based sensors to meet robust system design criteria.
- The foregoing discussed drawbacks and deficiencies of the prior art are overcome or alleviated by a method for implementing program execution integrity (PEI) for a communication-based sensor. In an exemplary embodiment, the method includes receiving an output communication message from the sensor, the output communication message including sensor output data internally processed within the sensor. The output communication message further includes raw data used by the sensor in internally processing the sensor output data. The raw data is independently processed, and the results thereof are compared with the internally processed sensor output data so as to verify the processing integrity of the sensor to a desired tolerance.
- In another embodiment, a system for implementing program execution integrity (PEI) for a communication-based sensor includes a control unit in communication with the sensor and configured to receive an output communication message therefrom. The output communication message includes sensor output data internally processed within the sensor, the output communication message further including raw data used by the sensor in internally processing the sensor output data. The control unit is further configured for independently processing the raw data, and for comparing the results of the independently processed raw data with the internally processed sensor output data so as to verify the processing integrity of the sensor to a desired tolerance.
- In still another embodiment, a storage medium includes a machine readable computer program code for implementing program execution integrity (PEI) for a communication-based sensor, and instructions for causing a computer to implement a method. The method further includes receiving an output communication message from the sensor, the output communication message including sensor output data internally processed within the sensor. The output communication message further includes raw data used by the sensor in internally processing the sensor output data. The raw data is independently processed, and the results thereof are compared with the internally processed sensor output data so as to verify the processing integrity of the sensor to a desired tolerance.
- Referring to the exemplary drawings wherein like elements are numbered alike in the several Figures:
-
FIG. 1 is a schematic block diagram illustrating a system and method for implementing a program execution integrity (PED) diagnostic for a communication-based sensor, in accordance with an embodiment of the invention; -
FIG. 2 is a detailed block diagram of an inverse tangent (ATAN) angle lookup function utilized by the system ofFIG. 1 ; -
FIG. 3 is a block diagram of a rotation overflow detection function included in the inverse tangent (ATAN) angle lookup function ofFIG. 2 ; -
FIG. 4 is a block diagram of a rotation angle determination function included in the inverse tangent (ATAN) angle lookup function ofFIG. 2 , which utilizes the rotation/overflow output ofFIG. 3 ; and -
FIG. 5 is a block diagram summarizing the steering angle comparison function implemented by the control unit inFIG. 1 . - Disclosed herein is a method and system for program execution integrity (PEI) for a communication-based sensor. Briefly stated, the raw data generated by sensing elements within the sensor is independently processed by a separate control unit and then compared with the sensor's output message data processed internally within the sensor. So long as the sensor output message data is in agreement with the independently computed data (to a specified tolerance), the sensor is deemed to have correctly internally processed its own raw data, thereby satisfying the PEI of the sensor.
- In an exemplary embodiment, the communication-based sensor is a steering angle sensor that provides an absolute angle as its output to a vehicle communication bus. A separate control unit provides a means for verifying the sensor's PEI such the sensor itself need not be designed according to the same diagnostic timing requirements as the vehicle system using the steering angle information.
- Referring initially to
FIG. 1 , there is shown a schematic block diagram illustrating a system andmethod 100 for implementing program execution integrity (PEI) for a communication-based sensor, in accordance with an embodiment of the invention. As is shown, the exemplary communication-basedsensor 102 is a steering angle sensor and includes a pair ofsensing elements processor 106. Theprocessor 106 may include an analog to digital conversion (ADC) mechanism for providing raw, unprocessed digital data in the form of sine and cosine values. The raw sine and cosine values are then processed in accordance with aninternal processing algorithm 108 of thesensor 102. - The output of
processing algorithm 108 represents the actual, absolute steering wheel angle information used by one or more vehicle control systems in communication with the vehicle communication bus. Accordingly, acommunication controller 110 and associatedtransceiver 112 provide an appropriate hardware interface to thevehicle communication bus 114. In a conventionally configured communication-based steering angle sensor, only the processed steering angle data is communicated externally from the sensor. However, as further shown inFIG. 1 ,sensor 102 is modified so as to also redundantly provide the raw,unprocessed data 116 as part of itsoutput communication message 118. - As indicated previously, the desired program execution integrity is implemented through a
separate control unit 120. Depending upon the particular application for the steering angle data,control unit 120 could be included as part of an existing vehicle control system controller, or it could be a separate control function altogether. In any case,control unit 120 receives theoutput communication message 118 fromsensor 102 and separates the absolute steering wheel angle (SWA)data 122 from theraw data 116. The raw data 116 (sine and cosine signals) is inputted to an inverse tangent function block (ATAN) 124 that, in addition to implementing an arc tangent lookup function, provides overflow detection and rotation detection for providing an independently processed steering angle, described in further detail hereinafter. - In the embodiment depicted, the actual comparison between the sensor-computed steering angle and the independently computed steering angle is a comparison between differential values of the two. Thus, for each signal path in
control unit 120 there is provided adelay block 126 and asubtraction block 128. Acompare block 130 receives a first differential value representing the change in sensor-computed steering angle and a second differential value representing the change in the independently computed steering angle using the raw data. Adiagnostic output 132 reflects whether the difference between the sensor-computed steering angle and the independently computed steering angle exceeds a determined threshold. -
FIG. 2 is a more detailed block diagram of an ATANangle lookup portion 200 of theATAN function block 124, particularly illustrating the sine and cosine inputs of the rawsteering angle data 116 and an intermediate output (ATAN angle) 202 representing the sensor angle in degrees (±180°). In this particular example, the sine value is scaled up by a factor of 128 (27) to preserve resolution in division. An ATAN lookup table 204 provides a first quadrant angle value in order to conserve available memory, and the sign of the cosine and sine values are reapplied to provide the correct angle quadrant. - As shown in
FIG. 3 , thedetermined ATAN angle 202 is further inputted to a rotationoverflow detection portion 300 of theATAN function block 124, which produces aninternal output 302 reflective of the direction of rotation of the steering angle. Angle changes are limited by Nyquist criteria to be less than ±180°. Any changes that are greater than 180° are considered overflows, which can either be in a clockwise direction or a counterclockwise direction. For a detected counterclockwise rotation,output 302 will have a value of 1, while for a detected clockwise rotation,output 302 will have a value of −1. Otherwise, the value ofoutput 302 will be 0. - Referring now to
FIG. 4 , there is shown another block diagram illustrating a rotationangle determination portion 400 ofATAN block 124, which utilizes the rotation/overflow output 302 ofFIG. 3 (determined from ATAN angle 202) to generate a rotation angle output in degrees. In particular, arotation counter 404 is used to sum the positive and negative rotations determined by the rotationoverflow detection function 300, and this value is then multiplied by −360 degrees. - Finally,
FIG. 5 is another block diagram summarizing the steering angle comparison function implemented bycontrol unit 120. Again, the rawunprocessed sensor data 116 is used to generate an independently computed, scaledsteering angle 502. The scaledsteering angle 502 is then subtracted from the previously determined scaled steering angle (initial AMR angle) to produce relative steering angle motion. Concurrently, the relative sensor-computed steering angle motion is determined and provided to compareblock 130, thereby generating an absolute steering angle comparevalue 504 to be used for diagnostic purposes. - As will be appreciated, the above described method and system provides for verification of internal processing of communication-based sensor information. In the exemplary embodiments depicted, steering angle information is provided from the communication-based steering angle sensor to a vehicle a communication bus is independently verified to determine whether the sensor or module sending the angle information processed the raw sensor data correctly. Although the verification is determined by comparing the change in steering angle position, it is contemplated that the comparison may be carried out in other ways (e.g., by directly comparing current steering angles provided by the sensor and independently computed by control unit 120).
- Moreover, the specific steering angle reconstruction (processing) from the raw sensor data need not necessarily carried out in the specific manner shown in the Figures, and could be implemented with the same or a different resolution than provided by the sensor's internal algorithm. Regardless of how the calculation is carried out, the present invention embodiments provide a redundant comparison of communication-based sensor information to ensure the information is compatible with robustly designed systems that use the information.
- As will be also appreciated, the above described method embodiments may take the form of computer or controller implemented processes and apparatuses for practicing those processes. The disclosure can also be embodied in the form of computer program code containing instructions embodied in tangible media, such as floppy diskettes, CD-ROMs, hard drives, or any other computer-readable storage medium, wherein, when the computer program code is loaded into and executed by a computer or controller, the computer becomes an apparatus for practicing the invention. The disclosure may also be embodied in the form of computer program code or signal, for example, whether stored in a storage medium, loaded into and/or executed by a computer or controller, or transmitted over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via electromagnetic radiation, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an apparatus for practicing the invention. When implemented on a general-purpose microprocessor, the computer program code segments configure the microprocessor to create specific logic circuits.
- While the invention has been described with reference to a preferred embodiment or embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (18)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/910,954 US7884715B2 (en) | 2004-08-04 | 2004-08-04 | Method and system for program execution integrity for communication-based angle sensor |
EP05076587A EP1624290A3 (en) | 2004-08-04 | 2005-07-12 | Angle sensor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/910,954 US7884715B2 (en) | 2004-08-04 | 2004-08-04 | Method and system for program execution integrity for communication-based angle sensor |
Publications (2)
Publication Number | Publication Date |
---|---|
US20060061355A1 true US20060061355A1 (en) | 2006-03-23 |
US7884715B2 US7884715B2 (en) | 2011-02-08 |
Family
ID=35414654
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/910,954 Expired - Fee Related US7884715B2 (en) | 2004-08-04 | 2004-08-04 | Method and system for program execution integrity for communication-based angle sensor |
Country Status (2)
Country | Link |
---|---|
US (1) | US7884715B2 (en) |
EP (1) | EP1624290A3 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080015808A1 (en) * | 2006-05-02 | 2008-01-17 | The Johns Hopkins University | Methods and system for program execution integrity measurement |
US20110273587A1 (en) * | 2009-11-13 | 2011-11-10 | Arnold & Richter Cine Technik Gmbh & Co. Betriebs Kg | Digital camera and method for monitoring a signal processing device |
US20170151978A1 (en) * | 2015-11-30 | 2017-06-01 | Jtekt Corporation | Vehicle Steering Device |
CN115698643A (en) * | 2020-07-30 | 2023-02-03 | 微芯片技术股份有限公司 | System and method for monitoring Analog Front End (AFE) circuitry of an inductive position sensor |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011078586A1 (en) * | 2011-07-04 | 2013-01-10 | Robert Bosch Gmbh | Redundant determination of the rotational movement of an electric machine |
Citations (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4970638A (en) * | 1988-10-31 | 1990-11-13 | The United States Of America As Represented By The Secretary Of The Air Force | Control of unknown systems via deconvolution |
US5072358A (en) * | 1990-03-09 | 1991-12-10 | Daytronic Corporation | Process controller |
US5257210A (en) * | 1989-09-28 | 1993-10-26 | Endress U. Hauser Gmbh U. Co. | Processor for processing sensor signals to obtain a desired transfer behavior |
US5588540A (en) * | 1994-05-16 | 1996-12-31 | Schmit; Joel A. | Modular storage unit kit |
US5750908A (en) * | 1996-02-26 | 1998-05-12 | Ade Corproation | Testing system with real time/off line functionality allocation |
US5991840A (en) * | 1996-07-30 | 1999-11-23 | Oki Electric Industry Co., Ltd. | Computer expansion unit with circuitry for reliable communication on auxiliary bus |
US20020050931A1 (en) * | 2000-10-31 | 2002-05-02 | Lieberman Robert A. | Surveillance system and method |
US20020056056A1 (en) * | 1999-05-10 | 2002-05-09 | Ross Bannatyne | Electronic control apparatus with memory validation and method |
US20030040878A1 (en) * | 2001-08-09 | 2003-02-27 | Rovsing Dynamics A/S | Automatic machinery fault diagnostic method and apparatus |
US20030102959A1 (en) * | 1996-12-16 | 2003-06-05 | Wolfgang Bitzer | Process for securing the privacy of data transmission |
US6648096B2 (en) * | 2000-10-27 | 2003-11-18 | Siemens Aktiengesellschaft | Method and device for determining a steering angle of a motor vehicle |
US6650979B1 (en) * | 1999-09-25 | 2003-11-18 | Volkswagen Ag | System for controlling motor vehicle components according to the “drive-by-wire” principle |
US20030216879A1 (en) * | 2002-05-14 | 2003-11-20 | Analysis & Measurement Services Corporation | Integrated system for verifying the performance and health of instruments and processes |
US20040046112A1 (en) * | 2002-09-10 | 2004-03-11 | Trw Inc. | Steering wheel angle sensor |
US20050007096A1 (en) * | 2003-06-18 | 2005-01-13 | Dimino Steven A. | System and method for proactive motor wellness diagnosis |
US6952443B1 (en) * | 1998-08-31 | 2005-10-04 | Samsung Electronics Co., Ltd. | Method and apparatus for determining rate of data transmitted at variable rates |
US7131046B2 (en) * | 2002-12-03 | 2006-10-31 | Verigy Ipco | System and method for testing circuitry using an externally generated signature |
US7444020B2 (en) * | 2003-07-01 | 2008-10-28 | Thomson Licensing | Reduction of rounding errors during the processing of digital image data |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6588540B2 (en) | 2001-07-26 | 2003-07-08 | Delphi Technologies, Inc. | Steer-by-wire redundant handwheel control |
-
2004
- 2004-08-04 US US10/910,954 patent/US7884715B2/en not_active Expired - Fee Related
-
2005
- 2005-07-12 EP EP05076587A patent/EP1624290A3/en not_active Withdrawn
Patent Citations (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4970638A (en) * | 1988-10-31 | 1990-11-13 | The United States Of America As Represented By The Secretary Of The Air Force | Control of unknown systems via deconvolution |
US5257210A (en) * | 1989-09-28 | 1993-10-26 | Endress U. Hauser Gmbh U. Co. | Processor for processing sensor signals to obtain a desired transfer behavior |
US5072358A (en) * | 1990-03-09 | 1991-12-10 | Daytronic Corporation | Process controller |
US5588540A (en) * | 1994-05-16 | 1996-12-31 | Schmit; Joel A. | Modular storage unit kit |
US5750908A (en) * | 1996-02-26 | 1998-05-12 | Ade Corproation | Testing system with real time/off line functionality allocation |
US5991840A (en) * | 1996-07-30 | 1999-11-23 | Oki Electric Industry Co., Ltd. | Computer expansion unit with circuitry for reliable communication on auxiliary bus |
US20030102959A1 (en) * | 1996-12-16 | 2003-06-05 | Wolfgang Bitzer | Process for securing the privacy of data transmission |
US6952443B1 (en) * | 1998-08-31 | 2005-10-04 | Samsung Electronics Co., Ltd. | Method and apparatus for determining rate of data transmitted at variable rates |
US20020056056A1 (en) * | 1999-05-10 | 2002-05-09 | Ross Bannatyne | Electronic control apparatus with memory validation and method |
US6650979B1 (en) * | 1999-09-25 | 2003-11-18 | Volkswagen Ag | System for controlling motor vehicle components according to the “drive-by-wire” principle |
US6648096B2 (en) * | 2000-10-27 | 2003-11-18 | Siemens Aktiengesellschaft | Method and device for determining a steering angle of a motor vehicle |
US20020050931A1 (en) * | 2000-10-31 | 2002-05-02 | Lieberman Robert A. | Surveillance system and method |
US20030040878A1 (en) * | 2001-08-09 | 2003-02-27 | Rovsing Dynamics A/S | Automatic machinery fault diagnostic method and apparatus |
US20030216879A1 (en) * | 2002-05-14 | 2003-11-20 | Analysis & Measurement Services Corporation | Integrated system for verifying the performance and health of instruments and processes |
US20040046112A1 (en) * | 2002-09-10 | 2004-03-11 | Trw Inc. | Steering wheel angle sensor |
US7131046B2 (en) * | 2002-12-03 | 2006-10-31 | Verigy Ipco | System and method for testing circuitry using an externally generated signature |
US20050007096A1 (en) * | 2003-06-18 | 2005-01-13 | Dimino Steven A. | System and method for proactive motor wellness diagnosis |
US7444020B2 (en) * | 2003-07-01 | 2008-10-28 | Thomson Licensing | Reduction of rounding errors during the processing of digital image data |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080015808A1 (en) * | 2006-05-02 | 2008-01-17 | The Johns Hopkins University | Methods and system for program execution integrity measurement |
US7904278B2 (en) | 2006-05-02 | 2011-03-08 | The Johns Hopkins University | Methods and system for program execution integrity measurement |
US20110202313A1 (en) * | 2006-05-02 | 2011-08-18 | Wilson Perry W | Method and System for Program Execution Integrity Measurement |
US8326579B2 (en) | 2006-05-02 | 2012-12-04 | The Johns Hopkins University | Method and system for program execution integrity measurement |
US20110273587A1 (en) * | 2009-11-13 | 2011-11-10 | Arnold & Richter Cine Technik Gmbh & Co. Betriebs Kg | Digital camera and method for monitoring a signal processing device |
US8625003B2 (en) * | 2009-11-13 | 2014-01-07 | Arnold & Richter Cine Technik Gmbh & Co. Betriebs Kg | Digital camera and method for monitoring a signal processing device |
US20170151978A1 (en) * | 2015-11-30 | 2017-06-01 | Jtekt Corporation | Vehicle Steering Device |
US10011297B2 (en) * | 2015-11-30 | 2018-07-03 | Jtekt Corporation | Vehicle steering device |
CN115698643A (en) * | 2020-07-30 | 2023-02-03 | 微芯片技术股份有限公司 | System and method for monitoring Analog Front End (AFE) circuitry of an inductive position sensor |
Also Published As
Publication number | Publication date |
---|---|
US7884715B2 (en) | 2011-02-08 |
EP1624290A2 (en) | 2006-02-08 |
EP1624290A3 (en) | 2007-05-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20150066301A1 (en) | Electronic control system | |
US7376498B2 (en) | Vehicle controller | |
US10053142B2 (en) | Electric power steering apparatus | |
US8326490B2 (en) | Steering angle sensor system and method for measuring a steering angle | |
US20140229064A1 (en) | Circuit for controlling an acceleration, braking and steering system of a vehicle | |
EP1624290A2 (en) | Angle sensor | |
KR19990036222A (en) | Microprocessor Systems for Critical Safety Control Systems | |
JP5844178B2 (en) | In-vehicle device | |
CN110733562B (en) | Apparatus and method for controlling steer-by-wire system | |
CN112556731B (en) | Operation using periodic rotation angle sensor signal | |
CN111746638B (en) | Detection unit | |
CN111051181A (en) | Steer-by-wire system and method for operating a steer-by-wire system | |
US6971047B2 (en) | Error handling of software modules | |
US20210323521A1 (en) | Wheel speed sensor interface circuit, operation method thereof, and electronic control system | |
JP2008116339A (en) | Sensor device, and vehicle control system with same | |
Kohn et al. | Markov chain-based reliability analysis for automotive fail-operational systems | |
JP2010158951A (en) | Electric power steering control device | |
JP2005114442A (en) | Resolver/digital converter with failure detection function | |
JP5226653B2 (en) | In-vehicle control device | |
US11231297B2 (en) | Providing availability of rotary position sensor information after hardware failures | |
US10464597B2 (en) | Apparatus and method for monitoring a signal path, and signal processing system | |
US20070198873A1 (en) | Method of Operation of a Microprocessor | |
US11314513B2 (en) | Circuit for verifying the content of registers | |
US7395303B2 (en) | Method and device for comparing binary data words | |
US11851115B2 (en) | Method for detecting error in reference signal of analog-to-digital converter in motor driven power steering system and electronic device thereof |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: DELPHI TECHNOLOGIES INC., MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:WENDLING, SCOTT M.;SMITH, TERRENCE;KLASS, JEFFREY T.;AND OTHERS;REEL/FRAME:015221/0965;SIGNING DATES FROM 20040817 TO 20040818 Owner name: DELPHI TECHNOLOGIES INC., MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:WENDLING, SCOTT M.;SMITH, TERRENCE;KLASS, JEFFREY T.;AND OTHERS;SIGNING DATES FROM 20040817 TO 20040818;REEL/FRAME:015221/0965 |
|
AS | Assignment |
Owner name: GM GLOBAL TECHNOLOGY OPERATIONS, INC., MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:DELPHI TECHNOLOGIES, INC.;REEL/FRAME:023449/0065 Effective date: 20091002 Owner name: GM GLOBAL TECHNOLOGY OPERATIONS, INC.,MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:DELPHI TECHNOLOGIES, INC.;REEL/FRAME:023449/0065 Effective date: 20091002 |
|
AS | Assignment |
Owner name: GM GLOBAL TECHNOLOGY OPERATIONS, INC.,MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:DELPHI TECHNOLOGIES, INC.;REEL/FRAME:023988/0754 Effective date: 20091002 Owner name: UNITED STATES DEPARTMENT OF THE TREASURY,DISTRICT Free format text: SECURITY AGREEMENT;ASSIGNOR:GM GLOBAL TECHNOLOGY OPERATIONS, INC.;REEL/FRAME:023990/0349 Effective date: 20090710 Owner name: UAW RETIREE MEDICAL BENEFITS TRUST,MICHIGAN Free format text: SECURITY AGREEMENT;ASSIGNOR:GM GLOBAL TECHNOLOGY OPERATIONS, INC.;REEL/FRAME:023990/0831 Effective date: 20090710 Owner name: GM GLOBAL TECHNOLOGY OPERATIONS, INC., MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:DELPHI TECHNOLOGIES, INC.;REEL/FRAME:023988/0754 Effective date: 20091002 Owner name: UNITED STATES DEPARTMENT OF THE TREASURY, DISTRICT Free format text: SECURITY AGREEMENT;ASSIGNOR:GM GLOBAL TECHNOLOGY OPERATIONS, INC.;REEL/FRAME:023990/0349 Effective date: 20090710 Owner name: UAW RETIREE MEDICAL BENEFITS TRUST, MICHIGAN Free format text: SECURITY AGREEMENT;ASSIGNOR:GM GLOBAL TECHNOLOGY OPERATIONS, INC.;REEL/FRAME:023990/0831 Effective date: 20090710 |
|
AS | Assignment |
Owner name: GM GLOBAL TECHNOLOGY OPERATIONS, INC., MICHIGAN Free format text: RELEASE BY SECURED PARTY;ASSIGNOR:UNITED STATES DEPARTMENT OF THE TREASURY;REEL/FRAME:025386/0591 Effective date: 20100420 Owner name: GM GLOBAL TECHNOLOGY OPERATIONS, INC., MICHIGAN Free format text: RELEASE BY SECURED PARTY;ASSIGNOR:UAW RETIREE MEDICAL BENEFITS TRUST;REEL/FRAME:025386/0503 Effective date: 20101026 |
|
AS | Assignment |
Owner name: PACIFIC CENTURY MOTORS, INC., CHINA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:GM GLOBAL TECHNOLOGY OPERATIONS, INC.;REEL/FRAME:027842/0918 Effective date: 20101130 Owner name: GM GLOBAL TECHNOLOGY OPERATIONS, INC., MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:GM GLOBAL TECHNOLOGY OPERATIONS, INC.;REEL/FRAME:027842/0918 Effective date: 20101130 |
|
AS | Assignment |
Owner name: STEERING SOLUTIONS IP HOLDING CORPORATION, MICHIGA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:PACIFIC CENTURY MOTORS, INC.;NEXTEER (BEIJING) TECHNOLOGY CO., LTD.;REEL/FRAME:027870/0666 Effective date: 20120126 |
|
AS | Assignment |
Owner name: INTEL CORPORATION, CALIFORNIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:QLOGIC CORPORATION;REEL/FRAME:028168/0202 Effective date: 20120229 |
|
REMI | Maintenance fee reminder mailed | ||
LAPS | Lapse for failure to pay maintenance fees | ||
STCH | Information on status: patent discontinuation |
Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362 |
|
FP | Lapsed due to failure to pay maintenance fee |
Effective date: 20150208 |